text: /* +------------------------------------------------------------------------+
     |                     Mobile Robot Programming Toolkit (MRPT)            |
     |                          http://www.mrpt.org/                          |
     |                                                                        |
     | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
     | See: http://www.mrpt.org/Authors - All rights reserved.                |
     | Released under BSD License. See details in http://www.mrpt.org/License |
     +------------------------------------------------------------------------+ */
  
  #pragma once
  
  #include <mrpt/obs/CActionCollection.h>
  #include <mrpt/obs/CSensoryFrame.h>
  #include <mrpt/obs/CObservation.h>
  #include <mrpt/graphs/CNetworkOfPoses.h>
  
  #include "CRegistrationDeciderOrOptimizer.h"
  
  namespace mrpt::graphslam::optimizers
  {
  /**\brief Interface for implementing graphSLAM optimizer classes.
   *
   * Class should provide a generic interface from which real optimizers should
   * inherit so that they abide to the necessary method calls used in the
   * CGraphSlamEngine class. For an example of inheriting from this class see
   * CLevMarqGSO.
   *
   * \note As a naming convention, all the implemented graphslam optimizer classes
   * are suffixed with the GSO acronym.
   *
   * \ingroup mrpt_graphslam_grp
   */
  template <class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>
  class CGraphSlamOptimizer
  	: public virtual mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_t>
  {
  public:
  	using constraint_t = typename GRAPH_t::constraint_t;
  	using pose_t = typename GRAPH_t::constraint_t::type_value;
  
  	CGraphSlamOptimizer()=default;
  	~CGraphSlamOptimizer() override =default;
  	/**\brief Used by the caller to query for possible full graph optimization
  	 * on the latest optimizer run
  	 */
  	virtual bool justFullyOptimizedGraph() const { return false; }
  
     protected:
  	/**\brief method called for optimizing the underlying graph.
  	 */
  	virtual void optimizeGraph() = 0;
  };
  }
  
  
  